CN112026906A - Steering switching system of unmanned formula car - Google Patents
Steering switching system of unmanned formula car Download PDFInfo
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- CN112026906A CN112026906A CN201910480840.5A CN201910480840A CN112026906A CN 112026906 A CN112026906 A CN 112026906A CN 201910480840 A CN201910480840 A CN 201910480840A CN 112026906 A CN112026906 A CN 112026906A
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- idler
- servo motor
- shaft
- gear disc
- gear
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- 230000005540 biological transmission Effects 0.000 claims abstract description 34
- 241000270281 Coluber constrictor Species 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- OQZCSNDVOWYALR-UHFFFAOYSA-N flurochloridone Chemical compound FC(F)(F)C1=CC=CC(N2C(C(Cl)C(CCl)C2)=O)=C1 OQZCSNDVOWYALR-UHFFFAOYSA-N 0.000 claims description 3
- 239000000853 adhesive Substances 0.000 claims description 2
- 230000001070 adhesive effect Effects 0.000 claims description 2
- 230000007704 transition Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 6
- 230000000694 effects Effects 0.000 description 4
- 230000000670 limiting effect Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
- G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a steering switching system of an unmanned formula racing car, which comprises a servo motor and a transmission assembly, wherein the transmission assembly is close to one side of the output end of the servo motor, the transmission assembly comprises a lower shell, one side of the lower shell is rotatably connected with a first gear disc and a second gear disc, the first gear disc and the second gear disc are symmetrically arranged relative to the vertical center line of the lower shell, and the first gear disc is in transmission connection with the output shaft of the servo motor through a common flat key. According to the invention, through the arrangement of the transmission assembly, the mass and the volume of the system device are smaller, the space arrangement of the FSAC is facilitated, the light weight and the space utilization rate of the formula racing car are improved, and due to the arrangement of the servo motor and the linear motor, the one-key switching is realized in the process of switching the steering states, and the automation degree of the formula racing car is improved.
Description
Technical Field
The invention relates to the technical field of racing cars, in particular to a steering switching system of an unmanned formula racing car.
Background
Formula car, the original meaning is conventional; criteria, scheme. Racing vehicles must be manufactured according to the procedures prescribed by the international union for automobiles' specifications, including body structure, length and width, minimum weight, engine swept volume, number of cylinders, fuel tank capacity, electronics, distance and size of tires, etc.; the formula cars are produced by the common formula (rule restriction), and the game is the formula car game.
However, most of the existing formula cars have low automation degree and no unmanned function, and most of the steering devices of the existing automatic driving technology have complex structures and large occupied space, are not suitable for the types of cars with higher requirements on space arrangement rationality, such as the formula cars, and the existing automatic steering system is not smooth enough and has lower stability when the manned mode and the unmanned mode are switched.
Disclosure of Invention
The invention aims to: the steering switching system of the unmanned formula car is provided for solving the problems of smooth switching between the unmanned steering system and the manned steering system of the existing unmanned formula car and ensuring the stability and reliability of the unmanned steering system and the manned steering system of the existing unmanned formula car.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a turn to switched systems of unmanned equation motorcycle race, includes servo motor and transmission assembly, transmission assembly is close to servo motor's output one side, the transmission assembly includes casing down, one side of casing is rotated and is connected with first toothed disc and second toothed disc down, and first toothed disc and second toothed disc set up about the vertical central line symmetry of casing down, first toothed disc is connected through ordinary parallel key and servo motor's output shaft transmission to the meshing is connected with the idler between first toothed disc and the second toothed disc, the center department of idler inlays and is equipped with the idler axle, servo motor glues fixedly connected with guide rail through the structure, and the inside bolt fixedly connected with linear electric motor of guide rail, linear electric motor's output shaft passes through the shaft coupling and is connected with the idler axle transmission.
As a further description of the above technical solution:
one side of the servo motor, which is far away from the output shaft, is sleeved with a motor hoop.
As a further description of the above technical solution:
the lower shell is fixedly connected with an upper shell through bolts at one side close to the first gear plate, and an end cover is fixedly connected with bolts at the center of the lower shell.
As a further description of the above technical solution:
and a gear shaft is embedded in the center of the second gear wheel disc and is in transmission connection with the steering column.
As a further description of the above technical solution:
one side of the idler is provided with a concave station facing the inner side, and one side of each idler tooth close to the concave station is a smooth tapered surface.
As a further description of the above technical solution:
the inside of idler inlays and is equipped with ball bearing, and ball bearing is kept away from one side of concave station and is provided with the hole jump ring with the inboard joint of idler, the last retaining ring that has cup jointed of idler shaft, and the retaining ring is located one side that the concave station was kept away from to the idler.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
according to the invention, through the arrangement of the transmission assembly, the mass and the volume of the system device are smaller, the spatial arrangement of the FSAC is facilitated, the light weight and the space utilization rate of the formula racing car are improved, and due to the arrangement of the servo motor and the linear motor, the one-key switching is realized in the process of switching the steering states, and the automation degree of the formula racing car is improved; through carrying out excessive smooth conical surface to one side of idler and handling for the idler is more smooth and stable at the in-process of switching, and because the structure of device is comparatively simple, and processing is simple and convenient.
Drawings
FIG. 1 is a schematic view of a steering switching assembly of the steering switching system of the formula racer according to the present invention;
FIG. 2 is a schematic view of a transmission assembly of a steering switching system of the formula racing vehicle according to the present invention;
FIG. 3 is a schematic view of an idler structure of a steering switching system of the formula racing vehicle according to the present invention;
fig. 4 is a schematic view of the structure of an idler and an idler shaft of a steering switching system of an unmanned formula racing car according to the present invention.
Illustration of the drawings:
1. a servo motor; 2. a motor hoop; 3. a gear shaft; 4. an upper housing; 5. a transmission assembly; 6. an end cap; 7. a linear motor; 8. a coupling; 9. an idler shaft; 10. a first gear; 11. an idler pulley; 12. a second gear; 13. a lower housing; 14. a guide rail; 15. a clamp spring for the hole; 16. a ball bearing; 17. and a retainer ring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a technical solution: a steering switching system of an unmanned formula racing car comprises a servo motor 1 and a transmission assembly 5, wherein the transmission assembly 5 is close to one side of an output end of the servo motor 1, the transmission assembly 5 comprises a lower shell 13, one side of the lower shell 13 is rotatably connected with a first gear disc 10 and a second gear disc 12, the first gear disc 10 and the second gear disc 12 are symmetrically arranged about a vertical center line of the lower shell 13, the first gear disc 10 is in transmission connection with an output shaft of the servo motor 1 through a common flat key, an idler wheel 11 is in meshing connection between the first gear disc 10 and the second gear disc 12, the idler wheel 11 is used for changing the direction of an output corner and the clutch effect, an idler wheel shaft 9 is embedded in the center of the idler wheel 11, the servo motor 1 is fixedly connected with a guide rail 14 through structural adhesive, a linear motor 7 is fixedly connected with an internal bolt of the guide rail 14, and the guide rail 14 limits the circumferential, therefore, the linear motion of the idler shaft 9 is realized, the output shaft of the linear motor 7 is in transmission connection with the idler shaft 9 through the coupler 8, and the coupler 8 fixedly connects the output shaft of the linear motor 7 with the idler shaft 9 through the tacking screw.
Specifically, as shown in fig. 1, a motor hoop 2 is sleeved on one side, away from the output shaft, of the servo motor 1, and the motor hoop 2 enables the servo motor 1 to be fixedly connected with a frame bolt through a lug piece, so that strong vibration is prevented from occurring when the servo motor 1 works.
Specifically, as shown in fig. 1, an upper housing 4 is fixedly connected to one side of the lower housing 13 close to the first gear plate 10 through a bolt, so that the transmission assembly 5 is prevented from being exposed, legs of a rider are protected, a good working environment is provided for a transmission mechanism inside the housing, and an end cover 6 is fixedly connected to a central position of the lower housing 13 through a bolt and used for limiting the idler shaft 9.
Specifically, as shown in fig. 2, a gear shaft 3 is embedded in the center of the second gear disc 12, and the gear shaft 3 is in transmission connection with the steering column.
Specifically, as shown in fig. 3 and 4, an inward concave table is arranged on one side of the idler 11, and one side of teeth of the idler 11, which is close to the concave table, is a smooth tapered surface, so that the idler 11 can be smoothly and stably engaged from a clutch state, and a self-engagement effect can be achieved, a ball bearing 16 is embedded in the idler 11, a hole snap spring 15 clamped with the inner side of the idler 11 is arranged on one side, which is far away from the concave table, of the ball bearing 16, and is used for limiting axial sliding of the ball bearing 16, a retainer ring 17 is sleeved on the idler shaft 9, the retainer ring 17 is located on one side, which is far away from the concave table, of the idler shaft 11, a boss is arranged on one side, which is far away from the retainer ring 17, of the idler shaft 9, and the axial movement of the idler shaft 9 relative to the idler 11 is prevented in.
The working principle is as follows: when the automatic steering device is used, when the automatic steering device is in an unmanned state, a signal receiver receives a signal and then acts on the servo motor 1, so that an output shaft of the servo motor 1 outputs a certain angle, the output shaft of the servo motor 1 is in transmission connection with the first gear plate 10 to rotate and is in meshing transmission connection with the idle wheel 11 to rotate, the ball bearing 16 is embedded in the idle wheel 11, so that when the external idle wheel 11 rotates, the internal idle wheel shaft 9 keeps static, the hole uses the clamp spring 15 to limit the axial displacement of the ball bearing 16, the friction force is reduced, the stability of the structure is kept, the rotating idle wheel 11 is simultaneously in meshing transmission connection with the second gear 12 on the other side to rotate, and the center position of the second gear 12 is in transmission connection with the steering shaft through the gear shaft 3, so that the steering effect is achieved; when the unmanned state is converted into the manned state, the driver sends a preset pulse signal to enable the linear motor 7 to operate, an output shaft of the linear motor 7 is in transmission connection with the idler shaft 9 through the coupler 8, so that the idler shaft 9 is axially displaced, due to the limiting effect of the bulge and the check ring 17 arranged on the idler shaft 9, the idler 11 is enabled to move upwards along with the idler shaft 9 and is separated from the meshing relation with the gears on two sides, the transmission relation between the two gears is cut off, after the operation is completed, the linear motor 7 stops operating, and as the control of the servo motor 1 is separated, a driver can carry out autonomous control; when the switching from the manned state to the unmanned state is carried out, the driver sends a preset pulse signal, so that the linear motor 7 operates, the output shaft of the linear motor 7 drives the idler shaft 9 to axially displace through the coupler 8, the idler 11 is conveyed between the two gears, in the process that the idler 11 is meshed with the two gears, because one side tooth of the idler 11 is an excessively smooth conical surface, the process that the idler 11 enters the meshed state is smoother and more stable, the noise is reduced, the self-meshing effect is achieved, after the idler 11 is fully meshed with the two gear discs, the linear motor 7 stops working, and the switching operation is completed.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (5)
1. The steering switching system of the unmanned equation racing car comprises a servo motor (1) and a transmission assembly (5), and is characterized in that the transmission assembly (5) is close to one side of the output end of the servo motor (1), the transmission assembly (5) comprises a lower shell (13), one side of the lower shell (13) is rotatably connected with a first gear disc (10) and a second gear disc (12), the first gear disc (10) and the second gear disc (12) are symmetrically arranged relative to the vertical central line of the lower shell (13), the first gear disc (10) is in transmission connection with the output shaft of the servo motor (1) through a common flat key, an idler wheel (11) is connected between the first gear disc (10) and the second gear disc (12) in a meshing manner, an idler wheel shaft (9) is embedded in the center of the idler wheel (11), and the servo motor (1) is fixedly connected with a guide rail (14) through structural adhesive, and the inside bolt fixedly connected with linear electric motor (7) of guide rail (14), the output shaft of linear electric motor (7) passes through shaft coupling (8) and is connected with idler shaft (9) transmission, the inside of idler (11) is inlayed and is equipped with ball bearing (16), and ball bearing (16) keep away from one side of concave station and be provided with jump ring (15) for the hole of clamp connection with idler (11) inboard, cup joint retaining ring (17) on idler shaft (9), and retaining ring (17) are located one side that idler (11) kept away from the concave station.
2. The system for switching the steering direction of the formula racer as claimed in claim 1, wherein a motor clamp (2) is sleeved on the side of the servo motor (1) far away from the output shaft.
3. The system of claim 1, wherein the upper housing (4) is fixedly bolted to one side of the lower housing (13) near the first gear plate (10), and the end cap (6) is fixedly bolted to a central position of the lower housing (13).
4. The steering switching system of the formula racer as claimed in claim 1, wherein a gear shaft (3) is embedded in the center of the second gear wheel disc (12), and the gear shaft (3) is in transmission connection with a steering column.
5. The system of claim 1, wherein one side of the idler (11) is provided with a concave platform facing inwards, and the side of the teeth of the idler (11) close to the concave platform is provided with a smooth transition conical surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910480840.5A CN112026906B (en) | 2019-06-04 | 2019-06-04 | Steering switching system of formula car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910480840.5A CN112026906B (en) | 2019-06-04 | 2019-06-04 | Steering switching system of formula car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112026906A true CN112026906A (en) | 2020-12-04 |
| CN112026906B CN112026906B (en) | 2024-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910480840.5A Active CN112026906B (en) | 2019-06-04 | 2019-06-04 | Steering switching system of formula car |
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| CN (1) | CN112026906B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10046167A1 (en) * | 2000-09-19 | 2001-05-17 | Zf Lenksysteme Gmbh | Steering system for road vehicles using steer-by-wire principle includes electrically operable switch between steering wheel and vehicle chassis to lock steering wheel when vehicle is stationary |
| KR20070104764A (en) * | 2006-04-24 | 2007-10-29 | 주식회사 로템 | Remote steering apparatus of the unmanned vehicle where the conversion of manual operation and automatic mode is possible |
| CN101298256A (en) * | 2008-06-25 | 2008-11-05 | 河北工业大学 | Electric power-assisted steering apparatus and control method thereof |
| CN101358631A (en) * | 2007-07-30 | 2009-02-04 | 卡特彼勒公司 | Flywheel having lubrication-flow passageway |
| US20110217888A1 (en) * | 2010-03-05 | 2011-09-08 | Honda Motor Co., Ltd. | Outboard motor control apparatus |
| CN204025575U (en) * | 2012-12-18 | 2014-12-17 | 杨泰和 | Tool cycle variable speed is the non-positive circular band wheels of Synchronous Transmission of girth complementary function when |
| CN108116399A (en) * | 2016-11-29 | 2018-06-05 | 丰田自动车株式会社 | For the control device and control method of hybrid electric vehicle |
| CN108357554A (en) * | 2018-01-18 | 2018-08-03 | 东南大学 | A kind of general transfer of driverless tractor and automatic mode switching method |
| CN207826332U (en) * | 2018-01-24 | 2018-09-07 | 常州工程职业技术学院 | A kind of racing car limiting steering device |
| CN108583676A (en) * | 2018-05-02 | 2018-09-28 | 吉林大学 | Magnetorheological fluid birotor power sense feedback device and its application method |
| CN209987988U (en) * | 2019-06-04 | 2020-01-24 | 合肥工业大学 | Steering switching system of unmanned formula car |
-
2019
- 2019-06-04 CN CN201910480840.5A patent/CN112026906B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10046167A1 (en) * | 2000-09-19 | 2001-05-17 | Zf Lenksysteme Gmbh | Steering system for road vehicles using steer-by-wire principle includes electrically operable switch between steering wheel and vehicle chassis to lock steering wheel when vehicle is stationary |
| KR20070104764A (en) * | 2006-04-24 | 2007-10-29 | 주식회사 로템 | Remote steering apparatus of the unmanned vehicle where the conversion of manual operation and automatic mode is possible |
| CN101358631A (en) * | 2007-07-30 | 2009-02-04 | 卡特彼勒公司 | Flywheel having lubrication-flow passageway |
| CN101298256A (en) * | 2008-06-25 | 2008-11-05 | 河北工业大学 | Electric power-assisted steering apparatus and control method thereof |
| US20110217888A1 (en) * | 2010-03-05 | 2011-09-08 | Honda Motor Co., Ltd. | Outboard motor control apparatus |
| CN204025575U (en) * | 2012-12-18 | 2014-12-17 | 杨泰和 | Tool cycle variable speed is the non-positive circular band wheels of Synchronous Transmission of girth complementary function when |
| CN108116399A (en) * | 2016-11-29 | 2018-06-05 | 丰田自动车株式会社 | For the control device and control method of hybrid electric vehicle |
| CN108357554A (en) * | 2018-01-18 | 2018-08-03 | 东南大学 | A kind of general transfer of driverless tractor and automatic mode switching method |
| CN207826332U (en) * | 2018-01-24 | 2018-09-07 | 常州工程职业技术学院 | A kind of racing car limiting steering device |
| CN108583676A (en) * | 2018-05-02 | 2018-09-28 | 吉林大学 | Magnetorheological fluid birotor power sense feedback device and its application method |
| CN209987988U (en) * | 2019-06-04 | 2020-01-24 | 合肥工业大学 | Steering switching system of unmanned formula car |
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| Publication number | Publication date |
|---|---|
| CN112026906B (en) | 2024-05-24 |
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